以三自由度平面PRR并联机器人为典型结构,对并联机构支链的分析人手,通过有效的数学推导,建立结构参数误差与输出位姿误差之间的关系,得出包含全部结构参数误差在内的误差正解模型,对于给定的各结构参数误差,应用此模型可直接得出并联机构输出位姿误差,并可以进一步定量分析各结构参数误差对输出误差的影响,为误差综合以及所采用的误差补偿措施等方面提供有力依据.%This text introduces the normal error solution model and all the errors of structure parameter for the plane PRR parallel robot with three degrees of freedom, starts with analyzing the fork chain of the parallel mechanism and then makes use of the effective mathematical derivation to build the relation between the errors of structure parameter and errors of the output pose. Hence,through the quantitative analysis of this model the influence of each structure parameter error on output errors can be confirmed. Therefore the error compensation measures can be adopted according to the integrated error.
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